aa=size(ans.Step3Path_cur.signals.values);
aa=aa(3);


Step3Path_x_raw = ans.Step3Path_x.signals.values(:,:,aa);
Step3Path_y_raw = ans.Step3Path_y.signals.values(:,:,aa);
Step3Path_yaw_raw = ans.Step3Path_yaw.signals.values(:,:,aa);
Step3Path_cur_raw = ans.Step3Path_cur.signals.values(:,:,aa);
Step3Path_num = ans.num_Step3.signals.values(aa);
Step3Path_CycNum = ans.num_Cyc.signals.values(aa);
Step3Path_ClothoidNum = ans.num_Clothoid.signals.values(aa);

% Step3Path_x = Step3Path_x_raw;
% Step3Path_y = Step3Path_y_raw;
% Step3Path_yaw = Step3Path_yaw_yaw;
% Step3Path_cur = Step3Path_cur_raw;

Step3Path_x_raw = single(Step3Path_x_raw);
Step3Path_y_raw = single(Step3Path_y_raw);
Step3Path_yaw_raw = single(Step3Path_yaw_raw);
Step3Path_cur_raw = single(Step3Path_cur_raw);
Step3Path_num = uint16(Step3Path_num);


Vt_Step2_x = Step3Path_x_raw;
Vt_Step2_y = Step3Path_y_raw;
Vt_Step2_theta = Step3Path_yaw_raw;
Vt_Step2_cur = Step3Path_cur_raw;
Vt_Step2_num = Step3Path_num;
Vt_Step2_CycNum = Step3Path_CycNum;
Vt_Step2_ClothoidNum = Step3Path_ClothoidNum;



